| 无人水面艇嵌入式基础运动控制系统研究 |
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| 引用本文： | 廖煜雷,庞永杰,庄佳园.无人水面艇嵌入式基础运动控制系统研究[J].计算机科学,2010,37(9):214-217. |
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| 作者姓名： | 廖煜雷 庞永杰 庄佳园 |
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| 作者单位： | 哈尔滨工程大学水下智能机器人技术国防科技重点实验室,哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金，水下智能机器人技术国防科技重点实验室研究基金 |
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| 摘 要： | 从硬件和软件两方面详细地讨论了无人水面艇嵌入式基础运动控制系统的体系结构.该运动控制系统采用了便于调试和监控的底层工控机和顶层控制机相结合的模式.同时详细阐述了无人水面艇基础运动控制系统的控制任务划分、运动控制实现、控制算法等流程.最后通过仿真试验表明,整个嵌入式基础运动控制系统满足可行性和可靠性要求.
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| 关 键 词： | 无人水面艇 嵌入式系统 运动控制 体系结构 S面控制 |
Study of the Embedded Basic Motion Control System for an Unmanned Surface Vehicle |
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| LIAO Yu-lei,PANG Yong-jie,ZHUANG Jia-yuan.Study of the Embedded Basic Motion Control System for an Unmanned Surface Vehicle[J].Computer Science,2010,37(9):214-217. |
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| Authors: | LIAO Yu-lei PANG Yong-jie ZHUANG Jia-yuan |
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| Affiliation: | (National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle,Harbin Engineering University, Harbin 150001 , China) |
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| Abstract: | This paper studied the embedded basis motion control system problem for an unmanned surface vehicle from the viewpoint of the hardware and software. The motion control system takes the combinative model which is convenient for debugging and monitoring the bottom of IPC and the top-level control. Synchronously, it expatiated in detail the unmanned surface vessels basis motion control system flow of control tasks partition, control motion and control arithmetic etc. Finally, the reliability and feasibility of the whole embedded basis motion control system was verified by simulation trial. |
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| Keywords: | Unmanned surface vehicle Embedded system Motion control Architecture S surface controller |
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